Festo CMXR-C1 Instructions d'utilisation et d'installation
Multi-axis control system
CMXR
-C1
Description
PLC interface
560328
1501b
[8039883]
Festo GDCP-CMXR-F-EN 1501b 2
Version ______________________________________________________________ 1501b
Designation _________________________________________________ GDCP-CMXR-F-EN
Order no. ___________________________________________________________ 560328
(Festo AG & Co., 73726 Esslingen, Germany, 2015)
Internet: http://www.festo.com
E-Mail: [email protected]
Reproduction, distribution and utilisation of this document, as well as the communication
of its contents to others without explicit authorisation, is prohibited. Offenders will be
held liable for damages. All rights reserved, in particular the right to file patent, utility
model and registered design applications.
Festo GDCP-CMXR-F-EN 1501b 3
Directory of revisions
Created by:
Handbook title: GDCP-CMXR-F-EN
Filename:
File storage location:
Sequential no. Description Revisions index Date of revision
001 Created 0805NH 09.07.2008
002 Revision 0909a 25.08.2009
003 Revision 1501b 15.01.2015
Table 1.1 Directory of revisions
Specified directives/standards
Issue status
EN ISO 13849-1:2008-12
Table 1.2 Directives/standards specified in the document
Trademarks
Microsoft® Windows® Registered trademark of Microsoft Corporation
PROFIBUS, PROFIBUS DP® registered trademarks of PROFIBUS International (PI)
4 Festo GDCP-CMXR-F-EN 1501b
Notes on this documentation
This documentation describes the MotionControl Profile (MCP) for activating the CMXR
multi-axis control system via PROFIBUS as well as via the digital I/O interface.
Identification of dangers and instructions on how to avoid them:
Warning
Dangers which can lead to death or serious injuries.
Caution
Dangers which can lead to slight injuries or to serious material damage.
Other symbols:
Note
Material damage or failure of function.
Recommendation, tip, reference to other documentation.
Necessary or useful accessories.
Information on environmentally friendly use.
Text designation:
•Activities that can be carried out in any order.
1. Activities which should be carried out in the specified sequence.
−General lists.
Festo GDCP-CMXR-F-EN 1501b 5
Additional documentation
The total functionality of the multi-axis control system CMXR-C1 is described in the
following documents:
Name
Contents
GDCP-CMXR-SY-… System description
GDCP-CMXR-HW-… Mounting and installation
GDCP-CMXR-F-… PLC interface (this document)
GDCP-CMXR-SW-… Programming instructions for CMXR FTL base
Table 1.3 Further documentation – CMXR-C1 multi-axis control system
The operator unit CDSA-D1-VX also has additional documents available:
Name
Contents
GDCP-CDSA-SY-… System manual
GDCP-CDSA-SW-… Software manual
Table 1.4 Additional documentation – operator unit CDSA-D1-VX
The listed documents are available for download in the Festo Support
Portal (www.festo.com/sp).
6 Festo GDCP-CMXR-F-EN 1501b
Table of contents
Table of contents
1. Safety and requirements for product use ................................................................ 9
1.1 Safety ...................................................................................................................... 9
1.1.1 General safety information ..................................................................... 9
1.1.2 Intended use ........................................................................................ 10
1.2 Requirements for product use................................................................................ 11
1.2.1 Qualification of specialized personnel .................................................. 11
1.3 Service................................................................................................................... 11
2. Control interfaces for external activation .............................................................. 12
3. PLC interface MCP1............................................................................................... 13
3.1 General.................................................................................................................. 13
3.2 Activation via digital I/O ........................................................................................ 13
3.3 Activation via PROFIBUS ........................................................................................ 16
3.3.1 I/O module BasicIO (optional).............................................................. 16
3.3.2 Control signals in the PROFIBUS data packet........................................ 17
3.3.3 Status signals in the PROFIBUS data packet ......................................... 19
3.4 Function of the PLC interface MCP1........................................................................ 21
3.4.1 Watchdog............................................................................................. 21
3.4.2 Error active........................................................................................... 21
3.4.3 Message system................................................................................... 21
3.4.4 Message classes and message numbers .............................................. 21
3.4.5Acknowledge error ............................................................................... 22
3.4.6 Requesting the master control.............................................................. 23
3.4.7 Switching on drives .............................................................................. 24
3.4.8 Programmed stop................................................................................. 24
3.4.9 Jog ....................................................................................................... 25
3.4.10 Selecting operating mode..................................................................... 26
3.4.11 Load program....................................................................................... 27
3.4.12 Unloading program .............................................................................. 32
3.4.13 Starting program .................................................................................. 33
3.4.14 Stopping program ................................................................................ 34
3.4.15 Parallel programs ................................................................................. 35
3.4.16 Override ............................................................................................... 35
3.4.17 Exchange of cyclical I/O data................................................................ 36
4. PLC interface MCP2............................................................................................... 37
4.1 MCP2-PB................................................................................................................ 37
4.1.1 Control signals ..................................................................................... 37
4.1.2 Status signals....................................................................................... 37
Festo GDCP-CMXR-F-EN 1501b 7
Table of contents
4.2 Function of the PLC interface MCP2........................................................................ 38
4.3 Function codes....................................................................................................... 40
4.3.1 Return values ....................................................................................... 40
5. Communication variables...................................................................................... 41
5.1 Position variables .................................................................................................. 41
5.1.1 Access from the robot program ............................................................ 41
5.1.2 Interface format.................................................................................... 42
5.2 Reference system variables ................................................................................... 42
5.2.1 Access from the robot program ............................................................ 42
5.2.2 Interface format.................................................................................... 43
5.3 Word variables....................................................................................................... 43
5.3.1 Access from the robot program ............................................................ 43
5.3.2 Interface format.................................................................................... 43
8 Festo GDCP-CMXR-F-EN 1501b
1Safety and requirements for product use
1. Safety and requirements for product use
1.1 Safety
1.1.1 General safety information
Caution
Malfunction of the machine or system due to improper manipulation.
•
Provide the load and operating voltage as a circuit with limited energy in
accordance with IEC 61131−2 and always make sure there is fuse
protection with max. 10 A.
•The power supply for the equipment must be assured by reliable
isolation of the low-voltage from contact-hazardous voltages.
•Make sure that an interrupted program can be properly restarted after
voltage drops and voltage failure. The occurrence of dangerous
operating statuses must be avoided, even if temporary.
•Emergency stop equipment must remain effective in all operating
modes. Unlocking the emergency stop equipment must not initiate an
uncontrolled restart.
•Additional external measures, which guarantee a safe operating status
of the entire system even in the event of an error, must be put in place
everywhere that errors that occur in the control system could result in
personal injuries or extensive material damage.
Warning
Dangerous voltage!
•If not otherwise specified, maintenance work must always be carried out
with the system switched off! At the same time, the system must be
protected against unauthorised or unintentional restart.
Measuring or test work on the system must be carried out only by
electrically skilled persons.
Note
Damage to the product from incorrect handling.
•Never unplug or plug in a product when powered.
•Observe the handling specifications for electrostatically sensitive
devices.
Festo GDCP-CMXR-F-EN 1501b 9
1 Safety and requirements for product use
1.1.2 Intended use
The CMXR multi-axis control system is intended to operate a kinematics system in the
environment of a machine or automated system.
•Use the multi-axis control system only as follows:
−in perfect technical condition
−in original status without unauthorised modifications, except for the adaptations
described in this documentation
−within the limits of the product defined by the technical data
−in an industrial environment.
Warning
The Festo CMXR multi-axis control system is not designed for safety-
relevant
control tasks (e.g. emergency stop or monitoring of reduced speeds).
The CMXR multi-axis control system conforms to category B of
EN ISO 13849-1 and is thus not sufficient for the implementation of safety
functions for the protection of persons.
•Additional external safeguarding that ensures the safe operating status
of the entire system even in the event of a malfunction must be adopted
for safety-relevant control tasks or for the safety of persons.
Note
In the event of damage caused by unauthorised manipulation or other than
intended use, the guarantee is invalidated and the manufacturer is not
liable for damages.
10 Festo GDCP-CMXR-F-EN 1501b
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4
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